I tried the following select:
SELECT (id,name) FROM v_groups vg inner join people2v_groups p2vg on vg.id = p2vg.v_group_id where p2vg.people_id =0;
You need the table name/alias in the SELECT part (maybe (vg.id, name)) :
SELECT
(vg.id, name)
SELECT (vg.id, name) FROM v_groups vg inner join people2v_groups p2vg on vg.id = p2vg.v_group_id where p2vg.people_id =0;